Adaptive Fuzzy Fixed-Time Bipartite Time-Varying Formation for Networked Marine Surface Vehicles

This paper is concerned with the bipartite time varying formation (BTVF) for networked marine surface vehicles (NMSVs) with modeling uncertainties and unknown external disturbances. Based on the nonsingular fixed-time sliding mode, a novel hierarchical control framework consisting of two layers is proposed. In the estimator layer, both the output and the opposite output of the leader can be obtained. In the local control layer, an adaptive fuzzy fixed-time controller are em ployed to guarantee the formation tracking performance and the boundedness of signals in the closed-loop system. The fuzzy logic system is employed to approximate the compounded uncertainty without relying on the system dynamic parameters. Through systematic Lyapunov stability analysis, the sufficient conditions for guaranteeing the fixed-time stability of the system are derived. Finally, the simulation is provided to confirm the viability of the proposed scheme.